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feat(goal_planner): introduce bezier based pullover for bus stop area #1308

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merged 2 commits into from
Jan 28, 2025
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feat(goal_planner): introduce bezier based pullover for bus stop area #1308

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085a694
feat(goal_planner): introduce bezier based pullover for bus stop area
soblin Jan 22, 2025
7321aa6
use prepare length
soblin Jan 24, 2025
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9 changes: 7 additions & 2 deletions ...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -25,8 +25,8 @@
high_curvature_threshold: 0.1
bus_stop_area:
use_bus_stop_area: false
goal_search_interval: 0.5
lateral_offset_interval: 0.25
goal_search_interval: 0.75
lateral_offset_interval: 0.3

# occupancy grid map
occupancy_grid:
Expand All @@ -52,6 +52,7 @@
# pull over
pull_over:
minimum_request_length: 0.0
pull_over_prepare_length: 100.0
pull_over_velocity: 3.0
pull_over_minimum_velocity: 1.38
decide_path_distance: 10.0
Expand Down Expand Up @@ -130,6 +131,10 @@
neighbor_radius: 8.0
margin: 1.0

bezier_parking:
pull_over_angle_threshold: 0.5
after_shift_straight_distance: 1.5

stop_condition:
maximum_deceleration_for_stop: 1.0
maximum_jerk_for_stop: 1.0
Expand Down
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